Stair handrail automatic cleaning device and stair collaborative cleaning robot

Abstract

The application discloses a stair handrail automatic cleaning device and a stair cooperative cleaning robot. The stair handrail automatic cleaning device comprises a walking trolley, a wiping assembly, a momentum wheel balancing mechanism, an angular momentum sensor and a controller which are installed on the walking trolley. The wiping assembly comprises a gripper and a driving mechanism for driving the gripper to open and close. The inner side of the gripper is provided with soft material for wiping the handrail. The application has the advantages of strong applicability, good balance, effective prevention of falling and the like. The stair cooperative cleaning robot comprises the above-mentioned stair handrail automatic cleaning device and a stair tread automatic cleaning device. The walking trolley of the stair handrail automatic cleaning device is provided with a camera module for real-time shooting of the position of the stair tread automatic cleaning device. The application has the advantages of good stability, flexibility, convenience and low cost.

Description

Technical Field

[0001] This invention mainly relates to the field of automatic stair cleaning equipment. Background Technology

[0002] Currently, in the field of automatic stair cleaning equipment, existing automatic handrail cleaning devices have significant limitations. Due to the various shapes of handrails, the handrail cleaning devices are difficult to adapt to all types of handrails. Moreover, most handrails are long and thin with narrow support surfaces, making it difficult for the handrail cleaning devices to maintain balance when moving on the handrail. Once they lose their balance, they are prone to falling off the handrail, resulting in damage to the device.

[0003] Furthermore, most existing automated stair cleaning devices can only clean the handrails or treads separately, offering limited functionality. Even cleaning robots that combine both functions simply connect the two via a robotic arm, leading to several significant drawbacks: First, because the handrail cleaning device is attached diagonally above the tread cleaning device via the robotic arm, the excessive weight of the head affects the robot's overall stability, increasing control difficulty. Second, the robotic arm, positioned horizontally in the air, obstructs pedestrian traffic during cleaning. Third, the high cost of the robotic arm makes the machine prohibitively expensive, hindering widespread adoption. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide an automatic cleaning device for stair handrails that is highly applicable, has good balance, and can effectively prevent falling, in order to address the shortcomings of the existing technology. At the same time, it provides a stair collaborative cleaning robot that can clean stair handrails and treads at the same time, and is stable, flexible, convenient, and inexpensive.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] An automatic cleaning device for stair handrails includes a traveling trolley and a wiping assembly, a momentum wheel balancing mechanism, an angular momentum sensor, and a controller mounted on the trolley. The traveling trolley includes a frame, traveling wheels mounted on the frame, and a geared motor for driving the traveling wheels to move on the handrail. The wiping assembly includes a gripper and a drive mechanism for opening and closing the gripper. When the gripper is closed, it can hold the handrail. The inner side of the gripper is provided with a soft material for wiping the handrail. The momentum wheel balancing mechanism includes a momentum wheel motor and a flywheel driven by the momentum wheel motor. The axial direction of the flywheel is arranged along the traveling direction of the traveling trolley. The angular momentum sensor is used to detect the angular momentum of the automatic cleaning device for stair handrails. The controller controls the momentum wheel motor to drive the flywheel to rotate and apply the opposite angular momentum according to the detection signal of the angular momentum sensor, so that the automatic cleaning device for stair handrails maintains dynamic balance on the handrail.

[0007] Furthermore, the gripper includes two oppositely arranged curved claws, and the drive mechanism includes a servo motor and two meshing transmission gears driven to rotate by the servo motor. Each transmission gear is fixedly connected to one curved claw, and the opening and closing of the gripper is achieved by rotating the transmission gears to drive the two curved claws to swing.

[0008] Furthermore, the gripper is positioned in front of or behind the traveling trolley.

[0009] A staircase collaborative cleaning robot includes an automatic handrail cleaning device as described above, and an automatic stair tread cleaning device. The automatic stair tread cleaning device includes a stair-climbing component, a lateral movement component, and a tread cleaning component. The stair-climbing component is used for climbing stairs, the lateral movement component is used for moving laterally along the length of the stair tread, and the tread cleaning component is used for cleaning the tread. A camera module is also installed on the traveling trolley of the automatic handrail cleaning device. The camera module is used to capture real-time images of the position of the automatic stair tread cleaning device. The controller converts the position of the automatic stair tread cleaning device into coordinate information based on the captured images, and controls the traveling speed of the automatic handrail cleaning device by comparing the coordinate difference between the automatic handrail cleaning device and the automatic stair tread cleaning device, so that the coordinate difference between the two is reduced to near zero.

[0010] Furthermore, the stair-climbing travel assembly includes a frame, a pair of traveling tracks installed at the bottom of the frame, and a pair of lifting tracks installed at the front of the frame. The lifting tracks are arranged at an angle relative to the traveling tracks. The traversing assembly includes a wheel frame and Mecanum wheels installed on the wheel frame. The wheel frame is connected to a crossbeam on the frame via a lifting mechanism. The two ends of the crossbeam are rotatably mounted on the frame, and the frame is equipped with brakes to limit the rotation of the crossbeam. The lifting mechanism is used to drive the wheel frame to rise and fall. When the wheel frame rises, the Mecanum wheels leave the tread surface. When the wheel frame falls, the Mecanum wheels contact the tread surface and lift the frame so that the traveling tracks disengage from the steps.

[0011] Furthermore, the lifting mechanism is an electric actuator.

[0012] Furthermore, the tread cleaning assembly includes a sweeping and vacuuming mechanism and a mopping mechanism. Along the direction of climbing the stairs, the sweeping and vacuuming mechanism is located in front of the mopping mechanism, and during cleaning, the sweeping and vacuuming mechanism and the mopping mechanism are respectively located on two adjacent steps.

[0013] Furthermore, the sweeping and vacuuming mechanism and the mopping mechanism are mounted on a bracket, the bracket is mounted on a linear module, the linear module is mounted on the frame, and the linear module is used to drive the bracket to make linear lifting and lowering movements so that the sweeping and vacuuming mechanism and the mopping mechanism contact or leave the tread surface.

[0014] Furthermore, the distance between the sweeping and vacuuming mechanism and the mopping mechanism is adjustable.

[0015] Furthermore, the bracket includes a crossbar, and the sweeping and vacuuming mechanism and the mopping mechanism are slidably sleeved on the crossbar via sleeves.

[0016] Compared with the prior art, the advantages of the present invention are as follows:

[0017] The automatic handrail cleaning device of the present invention has two main advantages. First, the handrail wiping component is designed as a gripper, which can grasp the handrail like a human hand, easily conforming to the handrail and adapting to various handrail shapes. This also improves the stability of the automatic handrail cleaning device on the handrail to a certain extent. Second, a momentum wheel balancing mechanism is set up to counteract the tilting tendency of the automatic handrail cleaning device by applying opposite angular momentum, so that the automatic handrail cleaning device always maintains dynamic balance on the handrail, thereby preventing the handrail robot from falling and being damaged during use.

[0018] The staircase collaborative cleaning robot of this invention can simultaneously clean stair handrails and treads. A camera module is installed on the automatic handrail cleaning device to capture real-time images of the automatic tread cleaning device. By comparing the coordinate difference between the two devices, the robot controls the walking speed of the handrail cleaning device, reducing the coordinate difference to near zero and synchronizing their positions in the direction of travel, thus achieving collaborative cleaning. Since no robotic arm is required between the two, it offers advantages such as high stability, flexibility, convenience, and low cost. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the automatic cleaning device for stair handrails of the present invention.

[0020] Figure 2 This is an exploded structural diagram of the wiping component in the automatic cleaning device for stair handrails of the present invention.

[0021] Figure 3 This is a structural schematic diagram of the automatic cleaning device for stair treads of the stair collaborative cleaning robot of the present invention.

[0022] Figure 4 This is a diagram showing the automatic stair tread cleaning device of the present invention in its state when the wheel frame is lowered (the tread cleaning components and part of the frame housing have been removed).

[0023] Reference numerals: Camera module 1; Controller 2; Power supply 3; Frame 4; Wheel 5; Gear motor 6; Gripper 7; Claw 8; Handrail 9; Servo motor 10; Transmission gear 11; Support shaft 12; Support plate 13; Momentum wheel motor 14; Flywheel 15; Frame 16; Travel track 17; Lift track 18; Wheel frame 19; Mecanum wheel 20; Drive motor 21; Crossbeam 22; Electric push rod 23; Brake 24; Sweeping and suction mechanism 25; Mopping mechanism 26; Linear module 27; Suspension bar 28; Horizontal bar 29; Vertical bar 30; Sleeve 31; Soft material 32. Detailed Implementation

[0024] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the scope of protection of the present invention is not limited to the following embodiments. Any improvements and modifications made to the present invention without departing from the principle of the present invention should be considered as within the scope of protection of the present invention.

[0025] like Figure 1 As shown, the automatic cleaning device for stair handrails of the present invention includes a traveling trolley and a wiping assembly, a momentum wheel balancing mechanism, an angular momentum sensor, a controller 2, and a power supply 3 mounted on the traveling trolley. The traveling trolley includes a frame 4, traveling wheels 5 mounted on the frame 4, and a geared motor 6 for driving the traveling wheels 5 to travel on the handrail 9. The power supply 3 is installed at the bottom of the frame 4 and is used to supply power to the geared motor 6 and other driving components. There are two traveling wheels 5, one in front of the other, mounted at the bottom of the frame 4. The geared motor 6 is connected to the traveling wheels 5 through a chain drive mechanism.

[0026] The wiping assembly includes a gripper 7 and a drive mechanism for opening and closing the gripper 7. When the gripper 7 is closed, it can hold the handrail 9. The inner side of the gripper 7 is provided with a soft material 32 for wiping the handrail 9. The soft material 32 can be a sponge or a cloth. Preferably, the gripper 7 is located at the front or rear of the traveling trolley. See also Figure 2 The gripper 7 includes two opposing curved claws 8, which are arc-shaped or multi-segmented. The drive mechanism includes a servo motor 10 and two meshing transmission gears 11 driven by the servo motor 10. Each transmission gear 11 is fixedly connected to one curved claw 8. The opening and closing of the gripper 7 is achieved by the rotation of the transmission gears 11 causing the two curved claws 8 to swing. Specifically, one transmission gear 11 is connected to the output shaft of the servo motor 10, and the other transmission gear 11 is connected to a support shaft 12. Both the servo motor 10 and the support shaft 12 are mounted on a support plate 13, which is mounted on the frame 4 of the traveling trolley.

[0027] The momentum wheel balancing mechanism includes a momentum wheel motor 14 and a flywheel 15 driven by the momentum wheel motor 14. The axial direction of the flywheel 15 is arranged along the traveling direction of the trolley. An angular momentum sensor is used to detect the angular momentum of the automatic handrail cleaning device. When the automatic handrail cleaning device tilts to one side on the handrail 9, the angular momentum sensor detects the change in angular momentum and sends the angular momentum information to the controller 2. The controller 2 controls the momentum wheel motor 14 to drive the flywheel 15 to rotate and apply the opposite angular momentum according to the signal from the angular momentum sensor, thereby counteracting the tilting tendency of the automatic handrail cleaning device and keeping the automatic handrail cleaning device dynamically balanced on the handrail 9.

[0028] See Figure 1 , Figure 3 The staircase collaborative cleaning robot of the present invention includes the aforementioned automatic staircase handrail cleaning device and an automatic staircase tread cleaning device. The automatic staircase tread cleaning device includes a climbing component, a lateral movement component, and a tread cleaning component. The climbing component is used for climbing stairs, the lateral movement component is used for moving laterally along the length of the staircase tread, and the tread cleaning component is used for cleaning the tread. A camera module 1 is also installed on the traveling trolley of the automatic staircase handrail cleaning device. The camera module 1 is used to capture real-time images of the position of the automatic staircase tread cleaning device and send the image information to a controller 2. The controller 2 calculates the position of the automatic staircase tread cleaning device into two-dimensional coordinate information based on each captured image, and establishes a coordinate system using the automatic staircase handrail cleaning device itself to obtain the coordinate difference between the automatic staircase handrail cleaning device and the automatic staircase tread cleaning device. The controller 2 controls the traveling speed of the automatic staircase handrail cleaning device by comparing the coordinate difference, so that the coordinate difference between the two is reduced to near zero. Specifically, with the forward direction as the coordinate axis, when the X-axis coordinate values ​​of the automatic handrail cleaning device and the automatic stair tread cleaning device are not equal, that is, there is a positional difference between the two, the controller 2 controls the speed of the reduction motor 6 to adjust the walking speed of the automatic handrail cleaning device on the handrail 9, so as to reduce the X-axis coordinate difference between the two and make the X-axis coordinate difference between the two approach zero, thereby realizing the synchronization of their positions in the direction of travel, and thus achieving collaborative cleaning between the two.

[0029] The stair-climbing assembly includes a frame 16, a pair of traveling tracks 17 mounted at the bottom of the frame 16, and a pair of lifting tracks 18 mounted at the front of the frame 16. The lifting tracks 18 are arranged at an angle relative to the traveling tracks 17, and the lifting tracks 18 and traveling tracks 17 are driven synchronously by the same motor. Utilizing a fixed four-track stair-climbing system, the climbing process is stable, the climbing speed is fast, the load capacity is high, and the device is not easily damaged.

[0030] The traverse assembly includes wheel frames 19 and Mecanum wheels 20 mounted on the wheel frames 19. The axial direction of the wheel frames 19 is along the length of the tread. Preferably, there are two wheel frames 19, arranged one in front of the other along the stair-climbing direction. Each wheel frame 19 has a Mecanum wheel 20 mounted at each end, and a drive motor 21 for driving the Mecanum wheels 20 is also mounted on the wheel frame 19. The wheel frames 19 are connected to crossbeams 22 on the frame 16 via a lifting mechanism. Correspondingly, there are also two crossbeams 22, i.e., each wheel frame 19 is connected to one crossbeam 22 via a lifting mechanism. Preferably, the lifting mechanism is an electric actuator 23, with one end of the electric actuator 23 connected to the crossbeam 22 and the other end connected to the wheel frame 19. The two ends of the crossbeam 22 are rotatably mounted on the frame 16, and the frame 16 is provided with brakes 24 to limit the rotation of the crossbeam 22. When the brake 24 is not engaged, the crossbeam 22 is in a freely rotatable state, and the electric push rod 23 connected to the crossbeam 22 is also in a freely swinging state. Under the action of its own weight, the electric push rod 23 will adaptively swing to a vertically downward angle. When the brake 24 is engaged, both ends of the crossbeam 22 are locked, the rotation of the crossbeam 22 is restricted, and the angle of the electric push rod 23 connected to the crossbeam 22 is also locked. The lifting mechanism is used to drive the wheel frame 19 to rise and fall. When the wheel frame 19 rises, the Mecanum wheel 20 leaves the tread surface. When the wheel frame 19 falls, the Mecanum wheel 20 contacts the tread surface and lifts the frame 16, causing the traveling track 17 to disengage from the step. The brake 24 is preferably an electromagnetic brake. Electromagnetic brakes are mature existing technology, and their braking principle will not be described in detail here.

[0031] See Figure 3 When the automatic cleaning device for stair treads ascends the stairs, the electric actuator 23 drives the wheel frame 19 to rise, causing the Mecanum wheel 20 to leave the tread. At this time, the brake 24 is not engaged, and the crossbeam 22 is in an automatic rotation state. The electric actuator 23, connected to the crossbeam 22, maintains a vertically downward angle under its own weight, unaffected by the inclination of the stairs. See also Figure 4 When the traveling track 17 stops moving to prepare for cleaning the tread surface, the brake 24 engages to lock the crossbeam 22. Then, the electric actuator 23 drives the wheel frame 19 to descend, causing the Mecanum wheel 20 to contact the tread surface and lift the frame 16, thus disengaging the traveling track 17 from the step. Because the electric actuator 23 lifts the frame 16 in a vertical position, the lifting process of the frame 16 is also vertical and upward, preventing interference or rubbing with the step surface and ensuring that the center of gravity does not shift, thus guaranteeing stability and reliability and avoiding machine damage.

[0032] The stair tread cleaning assembly includes a sweeping and vacuuming mechanism 25 and a mopping mechanism 26. Along the direction of stair climbing, the sweeping and vacuuming mechanism 25 is located in front of the mopping mechanism 26, and during cleaning, the sweeping and vacuuming mechanism 25 and the mopping mechanism 26 are positioned on adjacent steps. That is, while the sweeping and vacuuming mechanism 25 is working on the previous step, the mopping mechanism 26 is working on the adjacent next step, effectively sweeping and then mopping the stair treads.

[0033] The sweeping and vacuuming mechanism 25 is used to sweep dust and other debris from the tread surface. It mainly consists of a motor, brushes, a vacuuming system, a dust collection box, and a housing. The motor drives the brush to rotate, achieving the sweeping effect. The vacuuming system is mounted next to the brush, with its suction nozzle aimed at the brush, sucking the dust swept up by the brush into the dust collection box for storage. The mopping mechanism 26 is used to wipe the tread surface. It mainly consists of a cylindrical brush, a motor, and nozzles. During operation, the nozzles spray disinfectant, wetting the cylindrical brush. The motor drives the cylindrical brush to rotate, contacting and rubbing the tread surface to achieve a cleaning effect. The structural principles of both the sweeping and vacuuming mechanism 25 and the mopping mechanism 26 are mature existing technologies and will not be elaborated further here.

[0034] The sweeping and vacuuming mechanism 25 and the mopping mechanism 26 are mounted on a bracket, which is mounted on a linear module 27. The linear module 27 is mounted on the frame 16. The linear module 27 is used to drive the bracket to make linear lifting and lowering movements so that the sweeping and vacuuming mechanism 25 and the mopping mechanism 26 contact or leave the tread surface. Preferably, the linear module 27 is a lead screw guide linear module 27. The lifting and lowering states of the sweeping and vacuuming mechanism 25 and the mopping mechanism 26 are synchronized with the lifting and lowering states of the wheel frame 19 and the Mecanum wheel 20. That is, when the traveling track 17 is climbing the stairs, the Mecanum wheel 20, as well as the sweeping and vacuuming mechanism 25 and the mopping mechanism 26, are all in the raised state. When the traveling track 17 stops climbing the stairs and is on a certain step, the Mecanum wheel 20 is lowered and moves laterally on the tread surface, and the sweeping and vacuuming mechanism 25 and the mopping mechanism 26 are also lowered at the same time to start cleaning work.

[0035] Preferably, the distance between the sweeping and vacuuming mechanism 25 and the mopping mechanism 26 is adjustable. Specifically, the bracket includes a suspension rod 28 and a crossbar 29. One end of the suspension rod 28 is mounted on the linear module 27, and the other end of the suspension rod 28 is connected to the crossbar 29. A vertical rod 30 is connected to the top of both the sweeping and vacuuming mechanism 25 and the mopping mechanism 26. Both vertical rods 30 are slidably fitted onto the crossbar 29 via sleeves 31. This configuration can adapt to stairs with various tread widths. In use, the distance between the sweeping and vacuuming mechanism 25 and the mopping mechanism 26 is adjusted according to the width of the stair tread, so that the sweeping and vacuuming mechanism 25 and the mopping mechanism 26 are positioned precisely on adjacent steps. Furthermore, torsion springs are provided at the top connections of the vertical rods 30 and the sweeping and vacuuming mechanism 25 and the mopping mechanism 26, which can automatically adjust the angle between the sweeping and vacuuming mechanism 25 and the mopping mechanism 26 and the tread, ensuring that the bottom of the sweeping and vacuuming mechanism 25 and the mopping mechanism 26 fits snugly against the tread and that operation is smooth.

[0036] The working process of the automatic stair tread cleaning device is as follows:

[0037] Climbing process: The automatic stair tread cleaning device is equipped with an infrared sensor. First, the infrared sensor determines the position of the stairs and controls the motor to drive the traveling track 17 to approach the stairs, aligning the head of the automatic stair tread cleaning device with the stairs. After alignment, the motor drives the traveling track 17 to continue moving forward. Then, the lifting track 18 contacts the first step of the stairs. Driven by the lifting track 18, the head of the automatic stair tread cleaning device rises and moves diagonally upward until the traveling track 17 contacts the stair step. After contact with the stair step, the traveling track 17 drives the automatic stair tread cleaning device to move upward along the stairs.

[0038] Lateral Movement and Cleaning Process: The automatic stair tread cleaning device stops climbing the stairs after traveling a programmed distance equal to the length of one step. Using the electric actuator 23, the wheel frame 19, connected to the Mecanum wheels 20, is lowered, and the frame 16 is raised, allowing the Mecanum wheels 20 to replace the traveling track 17 in contact with the tread. Subsequently, the drive motor 21 drives the Mecanum wheels 20 to move laterally across the tread. Simultaneously, the linear module 27 lowers the sweeping and vacuuming mechanism 25 and the mopping mechanism 26 to contact the tread, performing cleaning work while the device moves laterally.

Claims

1. A staircase collaborative cleaning robot, characterized in that: The system includes an automatic cleaning device for stair handrails. The automatic cleaning device includes a traveling trolley and a wiping assembly, a momentum wheel balancing mechanism, an angular momentum sensor, and a controller (2) mounted on the traveling trolley. The traveling trolley includes a frame (4), traveling wheels (5) mounted on the frame (4), and a geared motor (6) for driving the traveling wheels (5) to travel on the handrail (9). The wiping assembly includes a gripper (7) and a driving mechanism for opening and closing the gripper (7). When the gripper (7) is closed, it can grip the handrail (9). The inner side of the gripper (7) is provided with… There is a soft material (32) for wiping the handrail (9); the momentum wheel balancing mechanism includes a momentum wheel motor (14) and a flywheel (15) driven by the momentum wheel motor (14), the axial direction of the flywheel (15) is arranged along the travel direction of the trolley; the angular momentum sensor is used to detect the angular momentum of the automatic cleaning device for the stair handrail, and the controller (2) controls the momentum wheel motor (14) to drive the flywheel (15) to rotate and apply the opposite angular momentum according to the detection signal of the angular momentum sensor, so that the automatic cleaning device for the stair handrail maintains dynamic balance on the handrail (9); It also includes an automatic cleaning device for stair treads, which includes a stair-climbing component, a lateral component, and a tread cleaning component. The stair-climbing component is used for climbing stairs, the lateral component is used for moving laterally along the length of the stair tread, and the tread cleaning component is used for cleaning the tread. The walking trolley of the automatic cleaning device for stair handrails is also equipped with a camera module (1). The camera module (1) is used to take real-time pictures of the position of the automatic cleaning device for stair treads. The controller (2) converts the position of the automatic cleaning device for stair treads into coordinate information based on the pictures taken, and controls the walking speed of the automatic cleaning device for stair handrails by comparing the coordinate difference between the automatic cleaning device for stair handrails and the automatic cleaning device for stair treads, so that the coordinate difference between the two is reduced to near zero. The stair-climbing travel assembly includes a frame (16), a pair of traveling tracks (17) mounted at the bottom of the frame (16), and a pair of lifting tracks (18) mounted at the front of the frame (16), wherein the lifting tracks (18) are arranged at an angle relative to the traveling tracks (17); the traversing assembly includes a wheel frame (19) and Mecanum wheels (20) mounted on the wheel frame (19), wherein the wheel frame (19) is connected to a crossbeam (22) on the frame (16) via a lifting mechanism. The two ends of the crossbeam (22) are rotatably mounted on the frame (16), and the frame (16) is provided with a brake (24) to limit the rotation of the crossbeam (22). The lifting mechanism is used to drive the wheel frame (19) to rise and fall. When the wheel frame (19) rises, the Mecanum wheel (20) leaves the tread. When the wheel frame (19) falls, the Mecanum wheel (20) contacts the tread and lifts the frame (16) so that the traveling track (17) disengages from the step. The lifting mechanism is an electric actuator (23).

2. The staircase collaborative cleaning robot according to claim 1, characterized in that: The gripper (7) includes two oppositely arranged curved claws (8). The drive mechanism includes a servo motor (10) and two meshing transmission gears (11) driven to rotate by the servo motor (10). Each transmission gear (11) is fixedly connected to a curved claw (8). The opening and closing of the gripper (7) is achieved by rotating the transmission gears (11) to drive the two curved claws (8) to swing.

3. The staircase collaborative cleaning robot according to claim 1 or 2, characterized in that: The gripper (7) is positioned in front of or behind the traveling trolley.

4. The staircase collaborative cleaning robot according to claim 1, characterized in that: The tread cleaning assembly includes a sweeping and vacuuming mechanism (25) and a mopping mechanism (26). Along the direction of climbing the stairs, the sweeping and vacuuming mechanism (25) is located in front of the mopping mechanism (26), and during cleaning, the sweeping and vacuuming mechanism (25) and the mopping mechanism (26) are located on two adjacent steps respectively.

5. The staircase collaborative cleaning robot according to claim 4, characterized in that: The sweeping and vacuuming mechanism (25) and the mopping mechanism (26) are mounted on a bracket, which is mounted on a straight module (27). The straight module (27) is mounted on a frame (16). The straight module (27) is used to drive the bracket to make a straight lifting and lowering motion so that the sweeping and vacuuming mechanism (25) and the mopping mechanism (26) contact or leave the tread surface.

6. The staircase collaborative cleaning robot according to claim 5, characterized in that: The distance between the sweeping and vacuuming mechanism (25) and the mopping mechanism (26) is adjustable.

7. The staircase collaborative cleaning robot according to claim 6, characterized in that: The bracket includes a crossbar (29), and the sweeping and vacuuming mechanism (25) and the mopping mechanism (26) are slidably mounted on the crossbar (29) via a sleeve (31).

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